CN106882255B - Composite operating rod device for controlling novel ambulance with multiple degrees of freedom - Google Patents
Composite operating rod device for controlling novel ambulance with multiple degrees of freedom Download PDFInfo
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- CN106882255B CN106882255B CN201710205100.1A CN201710205100A CN106882255B CN 106882255 B CN106882255 B CN 106882255B CN 201710205100 A CN201710205100 A CN 201710205100A CN 106882255 B CN106882255 B CN 106882255B
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- 239000002131 composite material Substances 0.000 title claims abstract description 24
- 239000000725 suspension Substances 0.000 claims abstract description 78
- 230000001133 acceleration Effects 0.000 claims abstract description 46
- 230000006870 function Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 21
- 150000001875 compounds Chemical class 0.000 claims description 13
- 238000013528 artificial neural network Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 3
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- 229920006351 engineering plastic Polymers 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
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- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
- B60T7/10—Disposition of hand control
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to the technical field of automobile control, and relates to a composite operating rod device for controlling a novel multi-degree-of-freedom ambulance. The composite control lever device replaces a steering wheel, an accelerator pedal, a brake pedal and gears of a traditional automobile, the control lever arranged on the left hand side of a driver is used for multi-mode steering of the automobile, the multi-freedom energy feedback suspension system is used for controlling, and the control lever arranged on the right hand side of the driver is used for multi-mode driving of the automobile and energy feedback brake control. The multi-mode steering can improve the maneuverability of the ambulance on crowded road conditions in medium and low speed cities, realize quick and free movement in all directions, add driving and steering fault-tolerant functions for the automobile by multi-mode driving, keep the automobile body relatively horizontal all the time by a multi-freedom energy-feedback suspension system, ensure that the transported patients have enough comfort, feed back the processed accurate road feel to a composite control lever device by steering, suspension, acceleration and braking, and improve the operability of the automobile.
Description
Technical Field
The invention belongs to the technical field of automobile control, and particularly relates to a composite operating rod device for controlling a novel multi-degree-of-freedom ambulance.
Background
Safety, energy conservation and environmental protection are the development directions of the current automobiles, electronic intelligence is an important means for realizing the direction, a steering system is liberated from a traditional mechanical steering mechanism by a wire control technology, and a chassis framework with four wheels capable of independently steering, independently driving, independently braking and independently adjusting a suspension system can be realized.
The advanced wire control automobile not only has the maneuvering performance incomparable to the traditional automobile, but also utilizes the electronic control unit to judge and output instructions by integrating the sensor information of the whole automobile, thereby improving the active safety.
The traditional ambulance is turned to, is accelerated, the braking is controlled by steering wheel, accelerator pedal and brake pedal respectively, and when the driver operated the car, the hand and foot of needs were used simultaneously, and this has increased the operation burden for the driver undoubtedly, and under emergency, the driver probably takes place danger because the busy maloperation that appears of operation moreover. At present, the types of suspensions are various, the performance of the suspension system used by most ambulance cars is poor, even if a more advanced active suspension system is used, the degree of freedom of adjustment of the active suspension is limited, the adjustment has hysteresis, and the comfort of a patient to be transported is greatly influenced on a road with larger unevenness, and even the condition of the patient can be aggravated due to jolt.
In order to overcome the defects of the prior art, the invention provides a composite control lever device for controlling a novel ambulance with multiple degrees of freedom. The invention integrates the functions of multi-mode steering, multi-freedom-degree energy feedback suspension system control, multi-mode driving and energy feedback brake control of the automobile on the composite control lever, and controls the ambulance by the composite control lever device, thereby improving the maneuverability and the safety of the automobile and ensuring that the transported patients have enough comfort. The novel ambulance can also charge the electric medical equipment through the energy recovered by the suspension system, the braking system and the energy accumulator, and simultaneously, the novel ambulance has high mobility and can quickly move and pass on urban crowded roads.
Disclosure of Invention
The invention relates to a composite control lever device for controlling a novel multi-degree-of-freedom ambulance, which is characterized in that steering, driving, braking, a suspension and the like of the novel ambulance are connected by adopting conducting wires, the composite control lever device is used for controlling and realizing the driving of the ambulance, and a steering wheel, an accelerator pedal, a brake pedal and gears of a traditional automobile are replaced; the composite control lever device consists of two control levers, wherein the control lever arranged on the left hand side of a driver is used for multi-mode steering of an automobile, the multi-freedom energy feedback suspension system is used for controlling, the control lever arranged on the right hand side of the driver is used for multi-mode driving of the automobile, and the energy feedback brake system is used for controlling; the suspension system is matched with a multi-freedom suspension lifting mechanism; the road feeling can be fed back to the composite control lever device by the steering, the suspension, the acceleration and the braking of the automobile, and the energy feeding can be realized by the fed-back road feeling.
The composite control lever device realizes integration of various steering modes, driving modes, acceleration and braking functions through a plurality of groove position designs in the horizontal direction, and meanwhile, the left control lever can also actively adjust the energy feedback suspension system in the vertical direction. The steering, driving and braking functions of the automobile are separately operated through the left and right operating levers, so that an accelerator pedal and a brake pedal of the traditional automobile are eliminated, the right foot of a driver is liberated, the steering, accelerating and braking are prevented from being integrated on one operating lever, and the driver is prevented from coupling interference of steering, accelerating and braking during driving operation. The composite control rod device cancels a steering wheel, avoids secondary damage of the steering wheel to a driver when the automobile collides, and also overcomes the misoperation of some existing automobiles when the hand-gear control rod is arranged near the steering wheel and the driver operates handles such as a windshield wiper and the like.
The novel ambulance is connected through the wire and is controlled to turn to, drive, braking, the suspension, the automatically controlled form of this kind of height is for last power consumption medical equipment of ambulance with present the suspension system that can, present the brake system connection of can provide convenience, the suspension system retrieves the energy that the automobile body vibration produced, brake system converts the partial kinetic energy of kinetic energy into heat energy through the friction in with the braking process and stores, power consumption medical equipment passes through the suspension system under general condition, the energy that brake system retrieved charges, when the energy of retrieving is not enough or the connection breaks down, power consumption medical equipment then still charges through the normal mode on the ambulance, realized the suspension, the abundant reuse of braking recovered energy, accord with the requirement to current car energy-conservation.
The left control lever of the composite control lever device comprises five groove positions, and the concrete operation steps are as follows: when the control lever is in the middle slot position, the automobile is steered independently in four different directions; when the operating lever is pushed to the left slot position, the automobile is in-situ steering; when the operating lever is pushed to the right slot position, the automobile turns in a diagonal direction; when the operating lever is pushed to the front slot position, the automobile turns to the front wheel; when the operating lever is pushed to the rear slot position, the automobile enters a transverse mode.
The multi-mode steering can realize the free switching of the ambulance in different steering modes of urban crowded road conditions, the ambulance runs on an urban road under most conditions, the traffic flow of the urban road is large, the road is crowded, the speed of the ambulance is low, the steering radius of the ambulance is small through four-wheel independent steering, pivot steering, diagonal steering and transverse moving under the condition, the steering is flexible, and the movement of the ambulance in any direction can be realized.
Multimode steering also adds fault tolerance to the steering of the ambulance and when one of the steering modes fails, it can be switched to the other steering mode to maintain the steering ability of the car, and when the cross-travel mode fails, the wheels can be steered from a crab to an extreme position of 90 degrees to move the car laterally.
According to the acceleration and the stroke of the operating rod sliding in the slot position, the electronic control unit can judge the steering angle and the steering emergency degree of the automobile, and when the operation of a driver is wrong, the electronic control unit can shield the wrong instruction of the driver, so that the intelligent control is realized for steering.
The right control lever of the composite control lever device also comprises five slot positions, and when the control lever is in the middle slot position, the automobile is driven by four wheels; when the operating lever is in the left slot position, the automobile is driven by the front wheel; when the operating lever is in the right slot position, the automobile is driven by the rear wheel; when the operating lever is in the front slot position, the automobile is in an acceleration mode; when the operating lever is at the rear slot position, the automobile is in a braking mode.
The multi-mode driving can provide driving force with corresponding size for the automobile under different road conditions, the front wheels or the rear wheels are used for driving under common working conditions, and when the large driving force is needed, the driving mode is switched into a four-wheel driving mode, so that the driving energy-saving control of the automobile is realized, and the waste of the residual driving force of the four-wheel driving is avoided. The multi-mode driving adds a driving and steering fault-tolerant function for the automobile, when one driving mode fails, the driving mode can be quickly switched to other driving modes to ensure the normal driving of the automobile, when the left control lever fails and the steering in any mode can not be carried out, the four-wheel driving of the right control lever is degenerated into the rear-wheel driving, the front wheels are used for the steering of the automobile, and the automobile is ensured to have the steering capacity under any condition.
The energy feedback suspension system is matched with the multi-degree-of-freedom suspension lifting mechanism, when the automobile runs on an uneven road, the multi-degree-of-freedom suspension lifting mechanism adjusts the suspension in multiple angles to keep the automobile body relatively horizontal, and the ideal automobile body posture is obtained without adjusting parameters such as rigidity and damping of the suspension, so that the ambulance for conveying patients is guaranteed to have sufficient comfort.
The left control rod is connected with the multi-freedom-degree suspension system through a lead, under different road conditions, a driver can continuously lift or press the left control rod to different heights in the vertical direction to adjust the multi-freedom-degree suspension lifting mechanism, active stepless adjustment of the suspension system is achieved, the limitation that the suspension system can only be adjusted in a limited mode by actively adjusting the control buttons is overcome, meanwhile, the control rod does not need the hands of the driver to shift for adjustment compared with the control buttons, meanwhile, the driver can sense the road sense fed back by the suspension system through the hands, and does not need to sense the road sense through the body.
Novel ambulance turns to, the suspension, drive and braking all can give the compound control rod device with the road feel feedback, car multi-mode road feel feedback is compared with the road feel feedback of single mode, the grasp road condition that the driver can be more accurate, the controllability of driver to the car has been improved, and the road feel that compound control rod device received is more concentrated, the electronic control unit of being convenient for handles, traditional steering wheel, accelerator pedal, brake pedal and suspension can only feed back single road feel, the road feel feedback information that electronic control unit received is discrete, it is relatively complicated to handle.
Compared with other algorithms, the neural network algorithm does not require strong time sequence for learning and training data, is suitable for a nonlinear system, has self-organizing and self-learning capabilities, can identify data samples which are similar to training samples but are not trained after learning the characteristics of the training samples, has good popularization capability and high algorithm precision. The novel ambulance multi-mode steering enables current signals output by the steering motor to have the characteristic of real-time nonlinearity, different steering modes are recognized by learning and training different current signals through a neural network algorithm, and the road feel fed back by the miniature linear motor can be more accurate.
The left control rod is internally provided with a disk with uneven mass distribution, the disk is connected with the multi-freedom-degree suspension lifting mechanism through a connecting rod structure, when the suspension lifting mechanism is driven by a suspension motor to work, the disk is driven to rotate irregularly to enable the left control rod to shake, and according to different output torques of the suspension motor, the shaking strength and effect of the left control rod are different, so that road feel feedback of a suspension system is realized.
An acceleration sensor and a reaction force switch are arranged on the right control lever in the longitudinal degree of freedom, the reaction force switch comprises an energy accumulator, when a driver operates the right control lever to accelerate or brake, the acceleration sensor measures the sliding acceleration of the right control lever, the reaction force switch sets a threshold value for the sliding acceleration response of the control lever, when the sliding acceleration of the right control lever is smaller than the set threshold value during acceleration or braking, the automobile is in a common running condition, the reaction force switch stores the received force in the energy accumulator, and the reaction force switch does not work; when the sliding acceleration of the right operating lever is greater than a set threshold value, the automobile is in an emergency accelerating or braking condition, the energy accumulator is released to enable the reaction force switch to start working, different reaction forces are applied to the right operating lever according to the sliding acceleration of the right operating lever, the portability of the right operating lever operated by a driver under the common accelerating or braking condition is improved, and the sensing of the emergency accelerating or braking condition on the feedback road feeling is realized; meanwhile, the energy accumulator recovers the road feel during acceleration and braking, and can be used for charging the electric medical equipment.
Compared with the prior art, the invention has the beneficial effects that:
1. the composite operating rod device for controlling the novel multi-degree-of-freedom ambulance carries out multi-mode steering control on the ambulance through the left operating rod, improves the maneuverability of the ambulance on urban crowded roads and can realize rapid displacement and passing; the multi-mode driving and braking are controlled through the right control rod, an accelerator pedal and a brake pedal are replaced, the right foot of a driver is liberated, the driver is ensured not to step on wrong pedals in emergency, and the multi-mode driving also adds a driving and steering fault-tolerant function for the automobile.
2. The compound operating lever device for controlling the novel multi-degree-of-freedom ambulance disclosed by the invention is matched with a multi-degree-of-freedom suspension lifting mechanism, so that the active stepless regulation of a suspension system is realized, the relative level of a vehicle body is kept, and a driver can receive the road feel fed back by the suspension system through the left operating lever under the condition of ensuring that a patient is conveyed with enough comfort.
3. The composite operating rod device for controlling the novel multi-degree-of-freedom ambulance can enable a driver to receive the road feel of steering, suspension, acceleration and braking feedback, and the electric medical equipment can be charged by energy recovered by an energy feedback suspension system, an energy feedback braking system and an energy accumulator of a reaction force switch.
Drawings
The invention is further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the structure and the position of a compound operating rod device involved in the compound operating rod device for controlling a novel ambulance with multiple degrees of freedom according to the present invention;
FIG. 2 is a schematic diagram of the multi-mode steering operation of the left joystick involved in the compound joystick device for the control of the novel ambulance with multiple degrees of freedom according to the present invention;
FIG. 3 is a schematic diagram of the multi-mode driving and braking operation of the right control lever involved in the compound control lever device for the multi-degree-of-freedom ambulance control according to the present invention;
fig. 4 is a schematic structural diagram of a multi-degree-of-freedom suspension lifting mechanism involved in the compound control rod device for the multi-degree-of-freedom novel ambulance control according to the present invention.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, the compound operating lever device includes a right operating lever 1 and a left operating lever 13, wherein a front slot 2, a left slot 3, a middle slot 4, a rear slot 5 and a right slot 6 are arranged on a horizontal plane of the right operating lever 1, and a left slot 7, a rear slot 8, a middle slot 9, a right slot 10 and a front slot 11 are arranged on a horizontal plane of the left operating lever. The driver seat base 12 is used to support a driver seat 15, and the left operating lever 13 and the right operating lever 1 are distributed on both sides of a driver 14. The left control lever 13 is used for multi-mode steering of the automobile and multi-freedom-degree energy feedback suspension system control, and the right control lever 1 is used for multi-mode driving of the automobile and energy feedback brake system control.
Referring to fig. 2, the control lever has more degrees of freedom than the steering wheel, so that favorable conditions are provided for the arrangement of various steering modes of the automobile, and a driver can realize the multi-mode steering of the novel ambulance, namely four-wheel incongruous independent steering, pivot steering, diagonal steering, front wheel steering and transverse movement, through the free switching between the middle slot position of the left control lever and five slot positions, namely front slot position, rear slot position, left slot position, right slot position and left slot position. The four-wheel independent steering has two forms of four-wheel different-direction independent steering and four-wheel same-direction independent steering, the four-wheel same-direction independent steering has good steering control stability when the automobile running speed is high, the four-wheel different-direction independent steering is flexible in steering at low speed in the automobile, and the four-wheel different-direction independent steering has high maneuverability.
When the novel ambulance runs on a crowded and narrow urban road, a driver can switch to a pivot steering mode, an oblique steering mode or a transverse moving vehicle, so that the automobile can freely move in any direction, and the automobile can flexibly and quickly pass through the crowded road condition. The multi-mode steering is integrated on one control lever, the driver can conveniently switch the steering operation according to the road condition, and the maneuvering performance of the automobile can be obviously improved.
The electronic control unit of the novel ambulance can judge the size of the steering angle of the automobile according to the sliding stroke of the left operating lever in the corresponding slot position, can judge the emergency degree of steering of a driver according to the sliding acceleration, and can shield wrong steering signals of the driver when the driver operates the emergency degree, so that the intelligent steering control is realized.
The 5 miniature linear motors in the groove position of the horizontal plane of the left control lever are used for generating feedback torque, the ambulance learns and trains current signals output by the steering motor through a neural network algorithm to identify different steering modes, the miniature linear motors generate smaller torque according to the current signals learned and trained by the neural network algorithm under the pivot steering, the diagonal steering and the transverse modes of the ambulance, the left control lever is convenient to operate, a driver can realize the quick and free displacement of the ambulance in a low-speed narrow space, the speed of the ambulance is higher when the four-wheel steering is performed independently and the front wheels are steered, the moment generated by the miniature linear motors according to the current signals learned and trained by the neural network algorithm is larger, the feedback path feeling perceived by the driver is clear, and the safety of the ambulance is improved.
Referring to fig. 3, the driver can switch among three lateral slots on the right control lever to realize the multi-mode driving of the ambulance, i.e. four-wheel driving, front-wheel driving and rear-wheel driving. The multiple drive mode can satisfy the demand of car at different road conditions to drive power, multiple drive mode has also increased the drive for novel ambulance car simultaneously, turn to fault-tolerant function, when a drive mode breaks down and can not drive, the driver can cut into other drive mode fast through the control rod and make the driving of car not influenced, guarantee can not delay patient's transportation treatment time because of the car drive trouble, the four-wheel drive mode can also provide and turn to fault-tolerant function, when the left control rod breaks down and loses steering ability completely, the four-wheel drive of right control rod degenerates into rear wheel drive, the front wheel is used for turning to of car, the operating stability of car has been improved.
On the longitudinal freedom of the right control lever, the slot position is provided with acceleration and braking, and the slot position also comprises an acceleration sensor and a counterforce switch which is provided with an energy accumulator. The acceleration and braking control is integrated on the control lever, and the right foot of a driver does not need to step on an accelerator pedal and a brake pedal, so that the right foot can be freely placed, and the operation burden of the driver is reduced.
When a driver operates the right control lever to accelerate or brake, the acceleration sensor measures the sliding acceleration of the right control lever, the reaction force switch sets a threshold value for the sliding acceleration response of the control lever, when the sliding acceleration of the right control lever is smaller than the set threshold value during acceleration or braking, the automobile is in a common running condition, the reaction force switch stores the force borne by the reaction force switch in the energy accumulator, and the reaction force switch does not work; when the sliding acceleration of the right control lever is larger than the set threshold value, the automobile is in an emergency acceleration or braking condition, the energy accumulator is released to enable the reaction force switch to start working, and different reaction forces are applied to the right control lever according to the sliding acceleration of the right control lever. The counterforce switch applies different counterforces according to the sliding acceleration of the right operating lever in the groove position, so that the portability of the driver operating the right operating lever under the common acceleration or braking working condition is improved, and the perception of the emergency acceleration or braking working condition on the feedback road feeling is realized; meanwhile, the energy accumulator also realizes energy feedback on the recovery of road feel torque when the automobile is accelerated and braked under the common running working condition, and can be used for standby charging of electric medical equipment.
Referring to fig. 2 and 3, the novel ambulance separates the steering, accelerating and braking functions through the composite control lever device, avoids coupling interference when the three are integrated on the same control lever for operation, integrates the acceleration and the braking on one control lever, and combines the operation habit of a driver, the control lever pushes the front slot position forwards to form an acceleration mode, and pushes the rear slot position backwards to form a braking mode, so that the misoperation of the driver can be avoided.
Referring to fig. 4, the suspension system is matched with a multi-degree-of-freedom suspension lifting mechanism, the suspension lifting mechanism comprises an upper surface 16, a universal hinge 17, a mechanical rod group 18, a lower surface 19, a universal hinge 20, a mechanical rod group 21, a universal hinge 22 and a mechanical rod group 23, the mechanical rod groups 18,21 and 23 respectively comprise two mechanical rod pieces, the lengths of the mechanical rod pieces can be changed in a telescopic mode, the upper surface 16 and the lower surface 19 of the suspension lifting mechanism are connected through the mechanical rod groups 18,21 and 23 at a certain angle to form the 6-degree-of-freedom suspension lifting mechanism, only 6 degrees of freedom are shown in the drawing, and in practical application, the number of the mechanical rod groups can be increased as required to achieve any multiple degrees of freedom.
The left control rod 13 is connected with the multi-degree-of-freedom suspension lifting mechanism through a CAN bus, when the novel ambulance runs on a road with large unevenness, a driver CAN manually adjust the control rod to continuously lift or press the left control rod at different heights in the vertical direction, and a suspension motor CAN drive the multi-degree-of-freedom suspension lifting mechanism to work, and in the adjusting process, the suspension lifting mechanism CAN realize the change of a plurality of direction dip angles through the lower surface 19, the universal hinges 17,20 and 22 of the mechanical rod groups 18,21 and 23 and the length expansion of the mechanical rod pieces to ensure that the upper surface 16 is always relatively horizontal, so that the ambulance body stably passes through the uneven road, and the requirement of a patient on the comfort is met.
The active stepless adjustment of the suspension system can be realized by continuously lifting or pressing the left operating lever on the vertical degree of freedom, the active adjustment of the suspension system by the existing control button can only realize a limited number of modes, the control button adjusts the vehicle body, but the driver loses the road feel fed back by the suspension system, and the operating lever can make up for the defect.
Claims (3)
1. A compound control lever device for controlling an ambulance with multiple degrees of freedom is characterized in that steering, driving, braking and suspension of the ambulance are connected by adopting conducting wires, the driving of the ambulance is realized by controlling the compound control lever device, and a steering wheel, an accelerator pedal, a brake pedal and gears of the ambulance are replaced; the composite control lever device consists of two control levers, the steering, driving and braking functions of the automobile are separately driven and operated by the left control lever and the right control lever, the control lever arranged on the left hand side of a driver is used for multi-mode steering of the automobile, the multi-freedom energy feedback suspension system controls the control lever, the control lever comprises five slot positions, and the concrete operation steps are as follows: when the control lever is in the middle slot position, the automobile is steered independently in four different directions; when the operating lever is pushed to the left slot position, the automobile is in-situ steering; when the operating lever is pushed to the right slot position, the automobile turns in a diagonal direction; when the operating lever is pushed to the front slot position, the automobile turns to the front wheel; when the control lever is pushed to the rear slot position, the automobile enters a transverse mode, free switching of different steering modes of the ambulance under the crowded road conditions of the middle-low speed city can be realized, the maneuverability of the automobile is improved, meanwhile, fault tolerance is added for steering, and the steering angle and the steering emergency degree of the automobile can be judged according to the sliding acceleration and the sliding stroke of the control lever in the slot position;
the right control lever of the composite control lever device comprises five slot positions, and when the control lever is positioned in the middle slot position, the automobile is driven by four wheels; when the operating lever is in the left slot position, the automobile is driven by the front wheel; when the operating lever is in the right slot position, the automobile is driven by the rear wheel; when the operating lever is in the front slot position, the automobile is in an acceleration mode; when the control lever is in a rear slot position, the automobile is in a braking mode, multi-mode driving can provide different driving forces under different road conditions, and a driving and steering fault-tolerant function is added for the ambulance, when one of a front wheel driving mode, a rear wheel driving mode and an accelerating mode fails, the ambulance can be quickly switched into another two modes which do not fail, and when a left control lever fails and loses steering capacity, four-wheel driving of a right control lever is degenerated into the rear wheel driving mode, and front wheels are used for steering to ensure normal running of the automobile;
the active adjustment of the suspension system can be realized through the lifting of the left operating lever in the vertical direction; the suspension system is matched with a multi-degree-of-freedom suspension lifting mechanism; the steering, the suspension, the acceleration and the braking of the automobile can all feed back the road feel to the composite control lever device, and the fed-back road feel can also realize energy feed; the electric control form of the ambulance wire connection is convenient for the connection and charging of the electric medical equipment, the multi-degree-of-freedom energy-feedback suspension system and the energy-feedback braking system, and the full and effective utilization of the recovered energy is realized.
2. The compound control rod device for controlling the multi-degree-of-freedom ambulance as claimed in claim 1, wherein the energy-feedback suspension system is matched with a multi-degree-of-freedom suspension lifting mechanism, the upper surface and the lower surface of the suspension lifting mechanism are planes, the two surfaces are connected by three groups of mechanical rod pieces at a certain angle, the number of the mechanical rod pieces is increased according to the actual application requirement, so that any number of degrees of freedom can be realized, and when the ambulance runs on an uneven road, the multi-degree-of-freedom suspension lifting mechanism enables the upper surface to be always kept relatively horizontal through the change of the multi-directional inclination angles of the lower surface and the mechanical rod pieces; the left control rod is connected with the multi-degree-of-freedom energy feedback suspension system through a lead, under different road surface conditions, a driver can continuously lift up or press down the left control rod at different heights in the vertical direction to adjust the multi-degree-of-freedom suspension lifting mechanism, so that the active stepless adjustment of the energy feedback suspension system is realized, the integration degree of the active adjustment of the energy feedback suspension system by the left control rod is higher, the hands of the driver do not need to be shifted, and the hands of the driver replace the body to directly sense the feedback road feel of the suspension system; the steering, the suspension, the acceleration and the braking of the ambulance can feed the road feeling back to the composite control lever device; the left control lever receives a road feel fed back by a multi-mode steering and multi-degree-of-freedom energy-feedback suspension system, 5 micro linear motors are arranged in a horizontal plane groove position of the left control lever and used for generating a feedback torque, the ambulance learns and trains current signals output by the steering motors through a neural network algorithm to identify different steering modes, the micro linear motors generate smaller torque according to the current signals learned and trained by the neural network algorithm under the in-situ steering, the oblique steering and the transverse modes of the automobile, the left control lever is light and convenient to operate, a driver can realize quick free displacement of the ambulance in a low-speed narrow space, the automobile has higher speed when four wheels are steered in an independent mode and front wheels are steered, the micro linear motors generate larger torque according to the current signals learned and trained by the neural network algorithm, and the feedback road feel perceived by the driver is clear; the right control lever receives a road feel fed back by an acceleration and energy feedback braking system, an acceleration sensor and a reaction force switch are arranged on the right control lever in a longitudinal degree of freedom, the reaction force switch comprises an energy accumulator, when a driver operates the right control lever to accelerate or brake, the acceleration sensor measures the sliding acceleration of the right control lever, the reaction force switch sets a threshold value for the response of the sliding acceleration of the control lever, when the sliding acceleration of the right control lever is smaller than the set threshold value during acceleration or braking, the automobile is in a common running working condition, the reaction force switch stores the force borne by the energy accumulator, and the reaction force switch does not work; when the sliding acceleration of the right operating lever is greater than a set threshold value, the automobile is in an emergency accelerating or braking condition, the energy accumulator is released to enable the reaction force switch to start working, different reaction forces are applied to the right operating lever according to the sliding acceleration of the right operating lever, the portability of the right operating lever operated by a driver under the common accelerating or braking condition is improved, and the sensing of the emergency accelerating or braking condition on the feedback road feeling is realized; meanwhile, the energy accumulator recovers the road feel during acceleration and braking, and can be used for charging electric medical equipment.
3. The compound control rod device for controlling the multi-degree-of-freedom ambulance as claimed in claim 2, wherein the left control rod is internally installed with a disk with uneven mass distribution, the disk is connected with the multi-degree-of-freedom suspension lifting mechanism through a connecting rod structure, the suspension lifting mechanism drives the disk to rotate irregularly to enable the left control rod to shake when working, so as to realize the road feel feedback of the energy feedback suspension system, and the disk shell is made of engineering plastics, so as to play roles of auxiliary fixation and protection and reduce the interference of the disk in the control rod when working.
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| CN111813178B (en) * | 2020-07-29 | 2022-01-28 | 皖西学院 | Operating lever of construction machine manufactured into ball-end rod |
| CN112977595B (en) * | 2021-04-13 | 2022-02-18 | 吉林大学 | Control rod mechanism based on wire control chassis and control rod control system |
| CN113220066A (en) * | 2021-04-20 | 2021-08-06 | 三一重机有限公司 | Multifunctional electric control handle and operation machine |
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